小型単一検出器コンプトンカメラを搭載したMAVによるガンマ線源の位置推定
Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera
40gの小型コンプトンカメラをドローンに搭載し、飛翔中にガンマ線源の位置をリアルタイムで推定するフィルタ手法を開発、シミュレーションとCs137線源実験で実証した。
著者: Tomas Baca, Petr Stibinger, Daniela Doubravova, Daniel Turecek, Jaroslav Solc, Jan Rusnak, Martin Saska, Jan Jakubek
分類: cs.RO, physics.ins-det
原文アブストラクト
A novel method for localization and estimation of compact sources of gamma radiation for Micro Aerial Vehicles (MAVs) is presented in this paper. The method is developed for a novel single-detector Compton camera, developed by the authors. The detector is extremely small and weighs only 40 g, which opens the possibility for use on sub-1 kg class of drones. The Compton camera uses the MiniPIX TPX3 CdTe event camera to measure Compton scattering products of incoming high-energy gamma photons. The 3D position and the sub-nanosecond time delay of the measured scattering products are used to reconstruct sets of possible directions to the source. The proposed method utilizes a filter for fusing the measurements and estimating the radiation source position during the flight. The computations are executed in real-time onboard and allow integration of the detector info into a fully-autonomous system. Moreover, the real-time nature of the estimator potentially allows estimating states of a moving radiation source. The proposed method was validated in simulations and demonstrated in a real-world experiment with a Cs137 radiation source. The approach can localize a gamma source without estimating the gradient or contours of radiation intensity, which opens possibilities for localizing sources in a cluttered and urban environment.
